Trigger Mode not get full frequency

[jingtianweidizzf]

Dear all,

hi, thank you for your wonderful work which solved my problem greatly!
But there's still a problem when I'm using this tool.

My Environment

Apollo 5.5.0, ROS Melodic on Ubuntu 18.04.

Problem

I am using this apollo-ros-bridge to acquire the IMU data from my Apollo to my SLAM algorithm running in ROS. However, my IMU in Apollo has a frequency of 160Hz, but the messages received by ROS topic is only 60~70 Hz. And sometimes I could see irregular messages (e.g. 20 messages in 0.5s and then only 2 messages in the next 0.5s, or something like this). Is there a solution for that?

Thank you again!

Best,
Zifan